Large-pipe-diameter-range pipeline installation mechanical clamping jaw suitable for coal mine underground roadway

Abstract

The invention belongs to the technical field of underground coal mine pipeline installation, and particularly relates to a large-pipe-diameter-range pipeline installation mechanical clamping jaw suitable for an underground coal mine roadway, which comprises a fixed installation part, a fixed jaw, a movable jaw, a fixed hydraulic cylinder and a movable hydraulic cylinder. Pipelines with different diameters in a large pipe diameter change range can be grabbed; six groups of rubber rollers are mounted on the fixed jaw and the movable jaw, and at least one group of driving rubber rollers capable of actively rotating can extrude the pipeline and drive the pipeline to roll in the clamping jaw through extrusion contact of the rubber rollers and the pipeline, so that the relative position of a pipeline mounting flange bolt hole is adjusted, and smooth butt joint and bolt insertion are facilitated. The device has the characteristics of small structural space, wide pipe diameter range and convenience in operation.

Description

Technical Field

[0001] The invention belongs to the technical field of underground coal mine pipeline installation, in particular to a mechanical clamp suitable for installing large-diameter pipelines in underground coal mine lanes. Background Art

[0002] Coal mining is an important pillar industry for my country's economic and social development. The workload of underground tunnel excavation is huge. The length of newly laid pipelines exceeds 40,000 kilometers each year, and the length of pipeline maintenance exceeds 20,000 kilometers. These pipelines have a wide range of diameters, ranging from 0.1 meters to more than 0.5 meters, and play an important role in underground mines, but their installation and maintenance work is extremely huge. Therefore, it is very necessary to develop a pipeline installation hydraulic mechanical gripper that has strong applicability, explosion-proof ability, and can be widely used in underground coal mine tunnels.

[0003] The traditional tunnel pipeline installation mode mainly relies on manual installation. The underground tunnel environment of coal mines is harsh, the space is small, the pipelines are heavy and long, and it takes a lot of manpower to complete the installation of pipelines. The work is arduous and accompanied by huge potential dangers. When installing the pipeline, it is necessary to use a manual hand winch to lift the pipeline (the maximum weight of the pipeline can reach 600 kg). Through the cooperation of multiple workers, the position of the pipeline is adjusted, the pipeline is axially rotated and fine-tuned, and then the docking installation is completed; the workers' cooperation in the process of bolt docking mainly relies on shouting to each other, and common problems such as one hole is aligned but the other hole is not aligned often occur. In such an environment, workers face difficult working conditions and huge work pressure. Therefore, using robots to replace humans to complete the work of underground pipeline installation has become the mainstream of future development.

[0004] In recent years, some coal mine underground tunnel pipeline installation has been mechanized, and the mechanized operation is also through hydraulic mechanical arms and clamps. However, the current mechanical clamps are only suitable for pipes with a small range of diameters, with a narrow application range, and cannot quickly and smoothly adjust the relative position of the bolt holes of the pipeline installation flange, and the function is very limited. The bolt docking work still requires manual cooperation, and the current mechanical arms and clamps actually only play the role of a crane.

[0005] In order to ensure the physical and physiological safety of operators under heavy physical labor, using robots to assist or replace manpower is a technical problem that needs to be solved. Summary of the invention

[0006] In view of the above problems existing in the existing manual installation of underground coal mine pipelines, the purpose of the present invention is to provide a mechanical clamp suitable for installing large-diameter pipelines in underground coal mine tunnels.

[0007] The objective of the present invention is achieved through the following technical solutions:

[0008] The present invention comprises a fixed mounting part, a fixed claw, a movable claw, a fixed hydraulic cylinder and a movable hydraulic cylinder, wherein the left and right sides of one end of the fixed mounting part are connected with fixed claws, the other end of the fixed mounting part is hinged with a movable claw, one end of the fixed hydraulic cylinder is hinged on the fixed mounting part and remains relatively still with the fixed mounting part during use, the other end of the fixed hydraulic cylinder is relatively rotatably connected with one end of the movable hydraulic cylinder, the other end of the movable hydraulic cylinder is hinged with the movable claw, and the opening and closing between the movable claw and the fixed claw are controlled by the extension and contraction of the fixed hydraulic cylinder and the movable hydraulic cylinder; three groups of fixed claw passive rubber rollers, two large and one small, are rotatably mounted on the fixed claw, and a group of fixed claw passive rubber rollers with a small diameter is located between two groups of fixed claw passive rubber rollers with a large diameter; two movable claw active rubber rollers and one movable claw passive rubber roller are rotatably mounted on the movable claw, and a power source and a transmission mechanism are provided on the movable claw, and the power source drives the two movable claw active rubber rollers to rotate synchronously through the transmission mechanism, and the movable claw passive rubber roller is located between the two movable claw active rubber rollers.

[0009] Wherein: when the mechanical clamp clamps a large-diameter pipe, the rubber rollers with large diameters at least three points contact the outer surface of the large-diameter pipe; when the mechanical clamp clamps a small-diameter pipe, the rubber rollers with large diameters and the rubber rollers with small diameters at at least three points contact the outer surface of the small-diameter pipe.

[0010] After the large-diameter pipe or the small-diameter pipe is clamped, at least one point of the rubber roller with a large diameter is an active rubber roller with movable claws and active rotational freedom.

[0011] The fixed mounting part is provided with a bending moment bearing component, and the bending moment bearing component includes an axis A, a sliding guide groove, a guide rail and an axis B. The fixed mounting part on the left and / or right side of the fixed hydraulic cylinder is provided with a sliding guide groove, and a guide rail capable of relative sliding is penetrated in the sliding guide groove. The other end of the fixed hydraulic cylinder, one end of the movable hydraulic cylinder and the guide rail are hinged together through the axis A, and one end of the fixed hydraulic cylinder is hinged to the fixed mounting part through the axis B.

[0012] The length direction of the sliding guide groove and the guide rail is consistent with the telescopic direction of the fixed hydraulic cylinder.

[0013] The power source is a hydraulic motor, the transmission mechanism is a gear box, the gear box is installed on the movable claw, the hydraulic motor is connected to the input end of the gear box, and the two output ends of the gear box are respectively connected to the two active rubber rollers of the movable claw.

[0014] An incremental encoder is installed on the end extending shaft of any one of the two active rubber rollers of the movable claws.

[0015] A claw hook end is provided below the passive rubber roller of the fixed claw located at the bottom on the fixed claw, and a claw hook end is provided below the active rubber roller of the movable claw located at the bottom on the movable claw. A shaft C is passed through the claw hook end, and a roller is rotatably mounted on the shaft C.

[0016] The radius of the roller is greater than the fillet radius of the claw hook end.

[0017] Each group of the fixed claw passive rubber rollers comprises two fixed claw passive rubber rollers, which are rotatably mounted on the fixed claws on both sides of the fixed mounting member, and the two fixed claw passive rubber rollers in each group are coaxially arranged.

[0018] The advantages and positive effects of the present invention are:

[0019] 1. The present invention uses only two hydraulic cylinders and sets fixed claws, which reduces the number of degrees of freedom. It occupies a small space and is suitable for narrow underground coal mine tunnels.

[0020] 2. The present invention can clamp a wide range of pipe diameters and has a large load-bearing capacity.

[0021] 3. The clamping jaws of the present invention are equipped with actively rotating rollers to drive the pipe to roll in the clamping jaws, and the relative positions of the bolt holes of the pipe mounting flanges can be accurately adjusted to facilitate smooth docking and insertion of the bolts, which greatly reduces the work intensity of the workers.

[0022] 4. The present invention has the characteristics of small structural space, wide pipe diameter range and convenient operation.

[0023] 5. The present invention does not require high initial positioning of the clamped pipe, thus effectively reducing the difficulty of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is the overall structural front view of the present invention;

[0025] Figure 2 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0026] Figure 3 It is a schematic diagram of the structure when the movable claw of the present invention is opened to the limit position;

[0027] Figure 4 This is a schematic diagram of the structure of the present invention when clamping a commonly used pipe with a minimum diameter of φ108mm;

[0028] Figure 5 This is a schematic diagram of the structure of the present invention when clamping a commonly used pipe with a maximum diameter of φ355mm;

[0029] Figure 6 It is a structural cross-sectional view of the moment bearing component of the present invention;

[0030] Figure 7 It is a structural cross-sectional view of the claw hook ends of the fixed claw and the movable claw of the present invention;

[0031] Among them: 1 is a fixed mounting part, 2 is a fixed claw, 3 is a movable claw, 4 is a fixed hydraulic cylinder, 5 is a movable hydraulic cylinder, 6 is a hydraulic motor, 7 is a gear box, 8 is an active rubber roller for the movable claw, 9 is a passive rubber roller for the movable claw, 10 is a passive rubber roller for the fixed claw, 11 is an axis A, 12 is a sliding guide groove, 13 is a guide rail, 14 is an axis B, 15 is the end of the claw hook, 16 is a roller, and 17 is an axis C. DETAILED DESCRIPTION

[0032] The present invention will be further described below in conjunction with the accompanying drawings.

[0033] like Figure 1 , Figure 2 As shown, the present invention comprises a fixed mounting part 1, a fixed claw 2, a movable claw 3, a fixed hydraulic cylinder 4 and a movable hydraulic cylinder 5, wherein the fixed claw 2 is a double claw and the movable claw 3 is a single claw, that is, the left and right sides of one end of the fixed mounting part 1 are connected with identical fixed claws 2, and the other end of the fixed mounting part 1 is hinged with a movable claw 3, and the fixed claw 2 and the movable claw 3 of this embodiment are both arc-shaped. One end of the fixed hydraulic cylinder 4 (the cylinder body in this embodiment) is hinged on the fixed mounting part 1 and remains relatively still with the fixed mounting part 1 during use, and the other end of the fixed hydraulic cylinder 4 (the piston rod in this embodiment) is connected to one end of the movable hydraulic cylinder 5 (the cylinder body in this embodiment) in a relatively rotatable manner, and the other end of the movable hydraulic cylinder 5 (the piston rod in this embodiment) is hinged with the movable claw 3, and the opening and closing between the movable claw 3 and the fixed claw 2 is controlled by the extension and retraction of the fixed hydraulic cylinder 4 and the movable hydraulic cylinder 5.

[0034] Three groups of fixed claw passive rubber rollers 10, two large and one small, are rotatably mounted on the two fixed claws 2. A group of fixed claw passive rubber rollers 10 with a small diameter is located between the two groups of fixed claw passive rubber rollers 10 with a large diameter. In this embodiment, each group of fixed claw passive rubber rollers 10 is two, which are rotatably mounted on the fixed claws 2 on both sides of the fixed mounting member 1, and the two fixed claw passive rubber rollers 10 in each group are coaxially arranged.

[0035] The movable claw 3 of the present embodiment is rotatably mounted with two movable claw active rubber rollers 8 and one movable claw passive rubber roller 9. The movable claw 3 is provided with a power source and a transmission mechanism. The power source drives the two movable claw active rubber rollers 8 to rotate synchronously through the transmission mechanism. The movable claw passive rubber roller 9 is located between the two movable claw active rubber rollers 8. In order to enable the pipeline to actively rotate inside the clamping claw, the two movable claw active rubber rollers 8 both have an active rotation function. The power source of the present embodiment is a hydraulic motor 6, and the transmission mechanism is a gear box 7. The gear box 7 is mounted on the movable claw 3. The hydraulic motor 6 is connected to the input end of the gear box 7, and the two output ends of the gear box 7 are respectively connected to the two movable claw active rubber rollers 8. The hydraulic motor 6 drives the two active rubber rollers 8 of the movable claws to rotate through the gear box 7. The gear box 7 is a single-input dual-output type. The function of the gear box 7 is to prevent the hydraulic motor 6 from creeping. The hydraulic motor 6 is prone to creeping when working at a low speed (the creeping of the hydraulic motor 6 means that when the running speed is too low, the hydraulic motor 6 cannot maintain a uniform running state, and enters a state of intermittent movement. The hydraulic motor 6 will creep when the speed is very low). The rotation speed of the active rubber roller 8 of the movable claw in the present invention is very low (2r / min), so the gear box 7 is designed to decelerate the hydraulic motor 6. The hydraulic motor 6 of this embodiment is a prior art, and a BMM40 cycloid hydraulic motor can be selected.

[0036] During use, the hydraulic cylinder is hinged at both ends and can usually only withstand axial forces. Figure 2 As shown, one end of the movable hydraulic cylinder 5 in the present invention is hinged to the other end of the fixed hydraulic cylinder 4, and the other end of the movable hydraulic cylinder 5 is hinged to the movable claw 3, and only bears axial force during use. However, the fixed hydraulic cylinder 4 must not only bear axial force but also bending moment during use. For this reason, a bending moment bearing component must be added to the fixed mounting part 1 to replace the fixed hydraulic cylinder 4 in bearing non-axial loads. Figure 1 , Figure 2 and Figure 6 As shown, the moment bearing assembly of this embodiment includes an axis A11, a sliding guide groove 12, a guide rail 13 and an axis B14. The fixed mounting parts 1 on the left and right sides of the fixed hydraulic cylinder 4 are symmetrically fixed to two sliding guide grooves 12. Each sliding guide groove 12 is provided with a guide rail 13 that can slide relatively. The length direction of the sliding guide groove 12 and the guide rail 13 is consistent with the telescopic direction of the fixed hydraulic cylinder 4. The other end of the fixed hydraulic cylinder 4, one end of the movable hydraulic cylinder 5 and the two guide rails 13 are hinged together through the axis A11, and one end of the fixed hydraulic cylinder 4 is hinged to the fixed mounting part 1 through the axis B14. In this way, the non-axial load borne by the fixed hydraulic cylinder 4 will be borne by the axis A11, the guide rail 13, the sliding guide groove 12 and the fixed mounting part 1. The setting of the sliding guide groove 12 and the guide rail 13 also ensures that one end of the fixed hydraulic cylinder 4 (the cylinder body in this embodiment) remains relatively still with the fixed mounting part 1 during use.

[0037] An incremental encoder is installed on the end extension shaft of any one of the two active rubber rollers 8 of the movable claws of this embodiment. When the active rubber roller 8 of the movable claw rotates, the pipeline is driven to roll in the clamping claw by always maintaining the clamping friction force. The incremental encoder is used to adjust the precise position of the bolt hole of the pipeline mounting flange so as to smoothly dock and insert the bolts. The incremental encoder of this embodiment is a commercially available product, purchased from Tangshan Dongrun Automation Engineering Co., Ltd., a BQH24 (A) mining intrinsically safe incremental encoder.

[0038] like Figure 1 , Figure 2 and Figure 7 As shown, the fixed claw 2 of this embodiment has a claw hook end 15 below the passive rubber roller 10 of the fixed claw located at the bottom, and the movable claw 3 has a claw hook end 15 below the active rubber roller 8 of the movable claw located at the bottom. The claw hook end 15 is penetrated by a shaft C17, and a steel roller 16 is rotatably mounted on the shaft C17. The radius of the roller 16 is slightly larger than the fillet radius of the claw hook end 15. When grabbing a pipe, it is only necessary to probe the claw hook end 15 below the height of the horizontal widest part of the circular cross section of the pipe. During the closing process of the clamping jaws, the pipe can slide upward along the inner contours of the fixed claw 2 and the movable claw 3 as the roller 16 rotates, and the clamping process is smoothly realized.

[0039] The working principle of the present invention is:

[0040] The opening and closing of the clamping jaws of the present invention is achieved by the extension and retraction of the fixed hydraulic cylinder 4 and the movable hydraulic cylinder 5. When the clamping jaws are opened to the limit position, the fixed hydraulic cylinder 4 is fully extended and the movable hydraulic cylinder 5 is fully retracted; when the clamping jaws are closed to the limit position, the fixed hydraulic cylinder 4 is fully retracted and the movable hydraulic cylinder 5 is fully extended. During the clamping process, the fixed hydraulic cylinder 4 is in the retraction process and the movable hydraulic cylinder 5 is in the extension process. The fixed hydraulic cylinder 4 and the movable hydraulic cylinder 5 of this embodiment are both prior art. The fixed hydraulic cylinder 4 can select the HSG80 type hydraulic cylinder with a stroke of 200mm; the movable hydraulic cylinder 5 can select the HSG63 type hydraulic cylinder with a stroke of 100mm.

[0041] In order to adapt to different sizes of pipe diameters, according to the relative size of the pipe diameters, when the mechanical clamp is clamping a large diameter pipe, the large diameter rubber rollers at least three points contact the outer surface of the large diameter pipe; when the mechanical clamp is clamping a small diameter pipe, the large diameter rubber rollers at at least three points and the small diameter rubber rollers contact the outer surface of the small diameter pipe together, so that no matter the pipe diameter is large or small, it can be ensured that it automatically falls into the position it should be in during the process of clamping the pipe. After the large diameter pipe or the small diameter pipe is clamped, at least one point of the large diameter rubber roller is a movable claw active rubber roller 8 with active rotation freedom.

[0042] According to the commonly used pipe diameter range in coal mine underground tunnels, which is φ108~φ355mm, in the present invention, Figure 3 As shown in the figure, when the jaws are opened to the limit, the opening size can reach 440mm; when the jaws are closed to the limit, the pipe diameter can be clamped <φ108mm. Figure 4 The diagram shows that the clamping jaws are clamping a φ108mm diameter pipe. At this time, the rubber rollers in contact with the outer surface of the φ108mm pipe are the passive rubber roller 10 of the uppermost fixed jaw 2, the passive rubber roller 10 of the fixed jaw 2 in the middle of the fixed jaw 2, the active rubber roller 8 of the movable jaw 3 at the bottom, and the passive rubber roller 9 of the movable jaw. Figure 5 The diagram is for the clamping jaws to clamp a φ355mm diameter pipe. At this time, the rubber rollers in contact with the outer surface of the φ355mm pipe are two large-diameter fixed jaw passive rubber rollers 10 of the fixed jaws 2 and two active rubber rollers 8 of the movable jaws 3.

[0043] The present invention can adapt to the change range of pipe diameter size by more than 3.3 times.

Claims

1. A mechanical clamp suitable for installing large-diameter pipes in underground coal mine tunnels, characterized by: The invention comprises a fixed mounting part (1), a fixed claw (2), a movable claw (3), a fixed hydraulic cylinder (4) and a movable hydraulic cylinder (5), wherein the fixed claw (2) is connected to both sides of one end of the fixed mounting part (1), the movable claw (3) is hinged to the other end of the fixed mounting part (1), one end of the fixed hydraulic cylinder (4) is hinged to the fixed mounting part (1) and remains relatively still with the fixed mounting part (1) during use, the other end of the fixed hydraulic cylinder (4) is connected to one end of the movable hydraulic cylinder (5) so as to be relatively rotatable, the other end of the movable hydraulic cylinder (5) is hinged to the movable claw (3), and the movement of the fixed hydraulic cylinder (4) and the movable hydraulic cylinder (5) is controlled by the extension and retraction of the fixed hydraulic cylinder (4) and the movable hydraulic cylinder (5). The movable claw (3) and the fixed claw (2) are opened and closed; the fixed claw (2) is rotatably mounted with three groups of fixed claw passive rubber rollers (10), two large and one small, and the group of fixed claw passive rubber rollers (10) with a small diameter is located between the two groups of fixed claw passive rubber rollers (10) with a large diameter; the movable claw (3) is rotatably mounted with two movable claw active rubber rollers (8) and one movable claw passive rubber roller (9); the movable claw (3) is provided with a power source and a transmission mechanism, the power source drives the two movable claw active rubber rollers (8) to rotate synchronously through the transmission mechanism, and the movable claw passive rubber roller (9) is located between the two movable claw active rubber rollers (8).

2. According to claim 1, the large-diameter pipe installation mechanical clamp suitable for underground coal mine tunnels is characterized by: When the mechanical clamp clamps a large-diameter pipe, the large-diameter rubber rollers at at least three points contact the outer surface of the large-diameter pipe; when the mechanical clamp clamps a small-diameter pipe, the large-diameter rubber rollers and the small-diameter rubber rollers at at least three points contact the outer surface of the small-diameter pipe.

3. According to claim 2, the large-diameter pipe installation mechanical clamp suitable for underground coal mine tunnels is characterized by: After the large-diameter pipe or the small-diameter pipe is clamped, at least one point of the rubber roller with a large diameter is a movable claw active rubber roller (8) with active rotational freedom.

4. According to claim 1, the large-diameter pipe installation mechanical clamp suitable for underground coal mine tunnels is characterized by: The fixed mounting part (1) is provided with a bending moment bearing component, and the bending moment bearing component comprises an axis A (11), a sliding guide groove (12), a guide rail (13) and an axis B (14). The fixed mounting part (1) on the left side and / or the right side of the fixed hydraulic cylinder (4) is provided with a sliding guide groove (12), and a guide rail (13) capable of relative sliding is penetrated in the sliding guide groove (12). The other end of the fixed hydraulic cylinder (4), one end of the movable hydraulic cylinder (5) and the guide rail (13) are hinged together through the axis A (11), and one end of the fixed hydraulic cylinder (4) is hinged to the fixed mounting part (1) through the axis B (14).

5. According to claim 4, the mechanical clamp for installing large-diameter pipes in underground coal mine tunnels is characterized by: The length direction of the sliding guide groove (12) and the guide rail (13) is consistent with the telescopic direction of the fixed hydraulic cylinder (4).

6. The mechanical clamp for installing large-diameter pipes in underground coal mine tunnels according to claim 1 is characterized in that: The power source is a hydraulic motor (6), the transmission mechanism is a gear box (7), the gear box (7) is installed on the movable claw (3), the hydraulic motor (6) is connected to the input end of the gear box (7), and the two output ends of the gear box (7) are respectively connected to the two active rubber rollers (8) of the two movable claws.

7. According to claim 1, the large-diameter pipe installation mechanical clamp suitable for underground coal mine tunnels is characterized by: An incremental encoder is installed on the protruding shaft at the end of any one of the two movable claw active rubber rollers (8).

8. According to claim 1, the large-diameter pipe installation mechanical clamp suitable for underground coal mine tunnels is characterized by: The fixed claw (2) has a claw hook end (15) below the passive rubber roller (10) of the fixed claw located at the bottom, and the movable claw (3) has a claw hook end (15) below the active rubber roller (8) of the movable claw located at the bottom. A shaft C (17) is passed through the claw hook end (15), and a roller (16) is rotatably mounted on the shaft C (17).

9. The mechanical clamp for installing large-diameter pipes in underground coal mine tunnels according to claim 8 is characterized in that: The radius of the roller (16) is greater than the fillet radius of the claw hook end (15).

10. The mechanical clamp for installing large-diameter pipes in underground coal mine tunnels according to claim 1 is characterized in that: Each group of fixed claw passive rubber rollers (10) comprises two fixed claws, which are rotatably mounted on the fixed claws (2) on both sides of the fixed mounting member (1), and the two fixed claw passive rubber rollers (10) in each group are coaxially arranged.

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